{"id":"https://openalex.org/W2892293949","doi":"https://doi.org/10.1109/icra.2019.8794228","title":"UAV Pose Estimation using Cross-view Geolocalization with Satellite Imagery","display_name":"UAV Pose Estimation using Cross-view Geolocalization with Satellite Imagery","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2892293949","doi":"https://doi.org/10.1109/icra.2019.8794228","mag":"2892293949"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1809.05979","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068974841","display_name":"Akshay Shetty","orcid":"https://orcid.org/0000-0002-8494-8469"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Akshay Shetty","raw_affiliation_strings":["Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, USA","Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, 61820, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, 61820, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069625302","display_name":"Grace Gao","orcid":"https://orcid.org/0000-0002-1807-8637"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grace Xingxin Gao","raw_affiliation_strings":["Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, USA","Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, 61820, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, IL, 61820, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00273691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1827","last_page":"1833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.788664698600769},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7412903308868408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7396345734596252},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.7100335359573364},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5401297211647034},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.48302969336509705},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.46906280517578125},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3213077783584595},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.22800758481025696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15187403559684753}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.788664698600769},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7412903308868408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7396345734596252},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.7100335359573364},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5401297211647034},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.48302969336509705},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.46906280517578125},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3213077783584595},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.22800758481025696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15187403559684753},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8794228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1809.05979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.05979","pdf_url":"https://arxiv.org/pdf/1809.05979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2892293949","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1809.05979.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1809.05979","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1809.05979","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1809.05979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.05979","pdf_url":"https://arxiv.org/pdf/1809.05979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2892293949.pdf","grobid_xml":"https://content.openalex.org/works/W2892293949.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1946093182","https://openalex.org/W1970504153","https://openalex.org/W2015996585","https://openalex.org/W2058535340","https://openalex.org/W2081418428","https://openalex.org/W2095761085","https://openalex.org/W2117741240","https://openalex.org/W2127589108","https://openalex.org/W2153030800","https://openalex.org/W2199890863","https://openalex.org/W2200124539","https://openalex.org/W2284646714","https://openalex.org/W2479919622","https://openalex.org/W2523246573","https://openalex.org/W2535547924","https://openalex.org/W2592936284","https://openalex.org/W2598199894","https://openalex.org/W2601593996","https://openalex.org/W2732026016","https://openalex.org/W2737075200","https://openalex.org/W2949514689","https://openalex.org/W2949948647","https://openalex.org/W2951336016","https://openalex.org/W2952195529","https://openalex.org/W2952325303","https://openalex.org/W2952573830","https://openalex.org/W2964213180","https://openalex.org/W3102327032","https://openalex.org/W6677967255","https://openalex.org/W6680272447","https://openalex.org/W6684191040","https://openalex.org/W6727249380","https://openalex.org/W6740934225","https://openalex.org/W6794416818"],"related_works":["https://openalex.org/W3173526862","https://openalex.org/W3112789455","https://openalex.org/W3209714413","https://openalex.org/W1595095702","https://openalex.org/W3134120370","https://openalex.org/W3137412965","https://openalex.org/W3197054068","https://openalex.org/W2887869989","https://openalex.org/W2028257406","https://openalex.org/W3173975863","https://openalex.org/W3091198895","https://openalex.org/W2969619317","https://openalex.org/W3211181103","https://openalex.org/W2795645133","https://openalex.org/W2943164008","https://openalex.org/W2272507962","https://openalex.org/W2970981312","https://openalex.org/W2618934046","https://openalex.org/W2565985973","https://openalex.org/W2949263464"],"abstract_inverted_index":{"We":[0,66,84,101],"propose":[1],"an":[2,45],"image-based":[3],"cross-view":[4],"geolocalization":[5,75],"method":[6,23,43,105,135],"that":[7,30,103,132],"estimates":[8],"the":[9,16,54,57,63],"global":[10,59],"pose":[11,60,111],"of":[12,18,25,62,88],"a":[13,69,81,86],"UAV":[14,47,64,90],"with":[15,77,126,136],"aid":[17],"georeferenced":[19],"satellite":[20,51,93],"imagery.":[21],"Our":[22],"consists":[24],"two":[26],"Siamese":[27],"neural":[28],"networks":[29,118],"extract":[31],"relevant":[32],"features":[33],"despite":[34],"large":[35],"differences":[36],"in":[37],"viewpoints.":[38],"The":[39],"input":[40],"to":[41,71,95,120,123],"our":[42,73,99,104,117,134],"is":[44,56],"aerial":[46],"image":[48],"and":[49,53,92,97,114],"nearby":[50],"images,":[52],"output":[55,76],"weighted":[58],"estimate":[61],"camera.":[65],"also":[67],"present":[68],"framework":[70],"integrate":[72],"crossview":[74],"visual":[78,137],"odometry":[79,138],"through":[80],"Kalman":[82],"filter.":[83],"build":[85],"dataset":[87],"simulated":[89],"images":[91],"imagery":[94],"train":[96],"test":[98,124],"networks.":[100],"show":[102,131],"performs":[106],"better":[107],"than":[108],"previous":[109],"camera":[110],"estimation":[112,142],"methods,":[113],"we":[115,130],"demonstrate":[116],"ability":[119],"generalize":[121],"well":[122],"datasets":[125],"unseen":[127],"images.":[128],"Finally,":[129],"integrating":[133],"significantly":[139],"reduces":[140],"trajectory":[141],"errors.":[143]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}